void CPhysicsObject::ApplyForceOffset(const Vector& forceVector, const Vector& worldPosition) {
Vector local;
WorldToLocal(&local, worldPosition);
btVector3 force, offset;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(local, offset);
m_pObject->applyForce(force, offset);
}
void ConvertShadowControllerToBull(const hlshadowcontrol_params_t &in, shadowcontrol_params_t &out) {
ConvertPosToBull(in.targetPosition, out.targetPosition);
ConvertRotationToBull(in.targetRotation, out.targetRotation);
out.teleportDistance = ConvertDistanceToBull(in.teleportDistance);
ConvertForceImpulseToBull(in.maxSpeed, out.maxSpeed);
out.maxSpeed = out.maxSpeed.absolute();
ConvertAngularImpulseToBull(in.maxAngular, out.maxAngular);
out.maxAngular = out.maxAngular.absolute();
out.dampFactor = in.dampFactor;
}
void CPhysicsObject::ApplyForceCenter(const Vector &forceVector) {
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
// forceVector is in kg*in/s*time
// bullet takes forces in newtons, aka kg*m/s*time
btVector3 force;
ConvertForceImpulseToBull(forceVector, force);
m_pObject->applyCentralImpulse(force);
}
void CPhysicsObject::ApplyForceOffset(const Vector &forceVector, const Vector &worldPosition) {
if (!IsMoveable() || !IsMotionEnabled()) {
return;
}
Wake();
Vector local;
WorldToLocal(&local, worldPosition);
btVector3 force, offset;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(local, offset);
m_pObject->applyImpulse(force, offset);
Wake();
}
// Output passed to ApplyForceCenter/ApplyTorqueCenter
void CPhysicsObject::CalculateForceOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerForce, AngularImpulse *centerTorque) const {
if (!centerForce && !centerTorque) return;
btVector3 pos, force;
ConvertPosToBull(worldPosition, pos);
ConvertForceImpulseToBull(forceVector, force);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
if (centerForce) {
ConvertForceImpulseToHL(force, *centerForce);
}
if (centerTorque) {
ConvertAngularImpulseToHL(cross, *centerTorque);
}
}
// Thrusters call this and pass output to AddVelocity
void CPhysicsObject::CalculateVelocityOffset(const Vector &forceVector, const Vector &worldPosition, Vector *centerVelocity, AngularImpulse *centerAngularVelocity) const {
if (!centerVelocity && !centerAngularVelocity) return;
btVector3 force, pos;
ConvertForceImpulseToBull(forceVector, force);
ConvertPosToBull(worldPosition, pos);
pos = pos - m_pObject->getWorldTransform().getOrigin();
btVector3 cross = pos.cross(force);
// cross.set_pairwise_mult( &cross, core->get_inv_rot_inertia());
// Linear velocity
if (centerVelocity) {
force *= m_pObject->getInvMass();
ConvertForceImpulseToHL(force, *centerVelocity);
}
if (centerAngularVelocity) {
ConvertAngularImpulseToHL(cross, *centerAngularVelocity);
}
}
void CPhysicsObject::ApplyForceCenter(const Vector& forceVector) {
btVector3 force;
ConvertForceImpulseToBull(forceVector, force);
m_pObject->applyCentralForce(force);
}
